Image processing device and image processing method

Abstract

An image processing device includes: an extraction unit which extracts edge lines based on image data taken by an imaging device by shooting a neighborhood of a vehicle; a selection unit which selects, as a pair of edge lines, edge lines that satisfy a prescribed condition from the extracted edge lines; an exclusion unit which, in a case where a non-paint-out region exists between the pair of edge lines, excludes quasi-edge lines that form the non-paint-out region from the pair of edge lines; and a detection unit which detects a partition line that partitions a parking frame based on the pair of edge lines from which the quasi-edge lines are excluded.

What is claimed is: 
     
       1. An image processing device comprising:
 an extraction unit which extracts edge lines based on image data taken by an imaging device by shooting a neighborhood of a vehicle; 
 a selection unit which selects, as a pair of edge lines, edge lines that satisfy a prescribed condition from the extracted edge lines; 
 an exclusion unit which, in a case where a non-paint-out region exists between the pair of edge lines, excludes quasi-edge lines that form the non-paint-out region from the pair of edge lines; and 
 a detection unit which detects a partition line that partitions a parking frame based on the pair of edge lines from which the quasi-edge lines are excluded. 
 
     
     
       2. The image processing device according to  claim 1 , further comprising:
 a parking frame detection unit which detects the parking frame based on the partition line detected by the detection unit; and 
 a stop position determining unit which determines a stop position of the vehicle based on the detected parking frame. 
 
     
     
       3. The image processing device according to  claim 1 , further comprising a calculation unit which calculates a luminance value difference between a luminance value at an inside position located between the pair of edge lines and a luminance value at an outside position located on an opposite side of one of the pair of edge lines to the inside position,
 wherein the exclusion unit excludes, from the pair of edge lines, the quasi-edge lines that form the non-paint-out region in which the luminance value difference is smaller than a prescribed luminance value difference. 
 
     
     
       4. The image processing device according to  claim 2 , further comprising a calculation unit which calculates a luminance value difference between a luminance value at an inside position located between the pair of edge lines and a luminance value at an outside position located on an opposite side of one of the pair of edge lines to the inside position,
 wherein the exclusion unit excludes, from the pair of edge lines, the quasi-edge lines that form the non-paint-out region in which the luminance value difference is smaller than a prescribed luminance value difference. 
 
     
     
       5. The image processing device according to  claim 3 , wherein the exclusion unit excludes, from the pair of edge lines, the quasi-edge lines that form the non-paint-out region in which a luminance value difference between the luminance value at the inside position and a luminance value at one of two of the outside positions located outside the inside position is smaller than the prescribed luminance value difference. 
     
     
       6. The image processing device according to  claim 4 , wherein the exclusion unit excludes, from the pair of edge lines, the quasi-edge lines that form the non-paint-out region in which a luminance value difference between the luminance value at the inside position and a luminance value at one of two of the outside positions located outside the inside position is smaller than the prescribed luminance value difference. 
     
     
       7. The image processing device according to  claim 3 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the exclusion unit excludes, from the pair of edge lines, as the quasi-edge lines that form the non-paint region, portions, located closer to the vehicle than the inside position whose luminance value is calculated, of the pair of edge lines. 
     
     
       8. The image processing device according to  claim 4 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the exclusion unit excludes, from the pair of edge lines, as the quasi-edge lines that form the non-paint region, portions, located closer to the vehicle than the inside position whose luminance value is calculated, of the pair of edge lines. 
     
     
       9. The image processing device according to  claim 5 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the exclusion unit excludes, from the pair of edge lines, as the quasi-edge lines that form the non-paint region, portions, located closer to the vehicle than the inside position whose luminance value is calculated, of the pair of edge lines. 
     
     
       10. The image processing device according to  claim 6 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the exclusion unit excludes, from the pair of edge lines, as the quasi-edge lines that form the non-paint region, portions, located closer to the vehicle than the inside position whose luminance value is calculated, of the pair of edge lines. 
     
     
       11. The image processing device according to  claim 3 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the calculation unit newly calculates the luminance value difference for an inside position that is located between the inside position at which a luminance value has been calculated at a current step and the inside position at which a luminance value was calculated at a preceding step. 
     
     
       12. The image processing device according to  claim 4 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the calculation unit newly calculates the luminance value difference for an inside position that is located between the inside position at which a luminance value has been calculated at a current step and the inside position at which a luminance value was calculated at a preceding step. 
     
     
       13. The image processing device according to  claim 5 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the calculation unit newly calculates the luminance value difference for an inside position that is located between the inside position at which a luminance value has been calculated at a current step and the inside position at which a luminance value was calculated at a preceding step. 
     
     
       14. The image processing device according to  claim 6 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the calculation unit newly calculates the luminance value difference for an inside position that is located between the inside position at which a luminance value has been calculated at a current step and the inside position at which a luminance value was calculated at a preceding step. 
     
     
       15. The image processing device according to  claim 7 , wherein, in a case where the luminance value difference is larger than or equal to the prescribed luminance value difference, the calculation unit newly calculates the luminance value difference for an inside position that is located between the inside position at which a luminance value has been calculated at a current step and the inside position at which a luminance value was calculated at a preceding step. 
     
     
       16. The image processing device according to  claim 1 , further comprising a managing unit which subjects information relating to the quasi-edge lines to time-series management,
 wherein the detection unit detects a partition line using the managed information relating to the quasi-edge lines. 
 
     
     
       17. The image processing device according to  claim 2 , further comprising a managing unit which subjects information relating to the quasi-edge lines to time-series management,
 wherein the detection unit detects a partition line using the managed information relating to the quasi-edge lines. 
 
     
     
       18. The image processing device according to  claim 3 , further comprising a managing unit which subjects information relating to the quasi-edge lines to time-series management,
 wherein the detection unit detects a partition line using the managed information relating to the quasi-edge lines. 
 
     
     
       19. The image processing device according to  claim 4 , further comprising a managing unit which subjects information relating to the quasi-edge lines to time-series management,
 wherein the detection unit detects a partition line using the managed information relating to the quasi-edge lines. 
 
     
     
       20. An image processing method comprising:
 extracting edge lines based on image data taken by an imaging device by shooting a neighborhood of a vehicle; 
 selecting, as a pair of edge lines, edge lines that satisfy a prescribed condition from the extracted edge lines; 
 in a case where a non-paint-out region exists between the pair of edge lines, excluding quasi-edge lines that form the non-paint-out region from the pair of edge lines; and 
 detecting a partition line that partitions a parking frame based on the pair of edge lines from which the quasi-edge lines are excluded.